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Modbus and Modbus TCP

Modbus and Modbus TCP. Client/Server communications protocol designed by Modicon in 1979 for use with its’ PLCs Openly published and free of royalties or licensing fees The most common industrial communications protocol in the US Used widely for Building Management Systems

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Modbus and Modbus TCP

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  1. Modbus and Modbus TCP • Client/Server communications protocol designed by Modicon in 1979 for use with its’ PLCs • Openly published and free of royalties or licensing fees • The most common industrial communications protocol in the US • Used widely for Building Management Systems • Passes raw words of bits without processing them • Originally a serial protocol very similar to RS-485, it now has a TCP variant • Also available as Modbus Plus, which is proprietary to Modicon and requires specialized hardware

  2. Modbus and Modbus TCP • Basic Modbus protocol does not support floating point or ASCII • A MODBUS Request is the message sent on the network by the Client to initiate a transaction • A MODBUS Indication is the Request message received on the Server side • A MODBUS Response is the Response message sent by the Server • A MODBUS Confirmation is the Response Message received on the Client side

  3. Modbus TCP

  4. Modbus TCP

  5. Basic Requirements • The Ethernet physical interface must be present • The Modbus TCP firmware for the Ethernet processor must be installed • V 1.117 or newer PMAC or V1.941 or newer Turbo PMAC firmware must be installed • A user buffer of 256 or more words must have been defined with the DEFINE UBUFFER command • I67 must be set to a value greater than 0.

  6. Modbus TCP • Configure->Modbus Setup • Set the start address - In the standard Turbo PMAC CPU/memory configuration (Option 5C0), this address will be $010700 • The software will automatically set I67 to the correct value The book says it will do so after setting it equal to any number > 0, then SAVE and $$$, but this does not always work • You must choose the size of the buffer – default is 256 words • Press Setup Modbus Buffer button Basic Setup with PEWIN32 Pro2

  7. Modbus TCP Setup • Press Update PMAC button – this will SAVE and $$$

  8. ACC-65ETH • Set up the IP address of the ACC-65ETH as per the hardware reference manual using the web browser and the default address of http://192.6.94.50 • Go to the Modbus TCP configuration utility in PEWIN32 Pro2 • Choose the next unused Active Socket. If you are not using a socket for PMAC interrupts, you may use Socket 1 • Choose Modbus Client as the Active Mode • Set Timer 1 to 50 (250 ms) • Set the Server Address as per that set in the ACC-65ETH • Set the Timer to 1 • Set the FC Command Description to 23 (read/write multiple words)

  9. ACC-65ETH • Set the Modbus Reference Number for the Write to 4 • Set the Modbus Reference Number for the Read to 0 • Set the PMAC Reference Number for the Write to 36 • Set the PMAC Reference Number for the Read to 32 • Set both Lengths to 4 • Press the Update Command button, then the Update PMAC button • This writes the command shown in the Command text box to memory in the PMAC. You can check this by pointing MVARs to the Modbus Command memory space at the start of the Modbus Buffer space.

  10. ACC-65ETH Data begins at i67+$80+$10 (PMAC Reference 32=16 words =$10) Assuming i67=$10700: X:$10790,0,16 Digital inputs 0-15 32 Y:$10790,0,16 24Vok input and digital inputs 16-23 33 X:$10791,0,12 ADC Input1 34 Y:$10791,0,12 ADC Input2 35 X:$10792,0,16 Digital Outputs 0-15 36 Y:$10792,0,16 RLY1, RLY2, Digital outputs 16-23 37 X:$10793,0,12 DAC 1 38 Y:$10793,0,12 DAC 2 39

  11. The PMAC Modbus/TCP-IP configuration & buffer memory format

  12. The PMAC Modbus/TCP-IP configuration & buffer memory format The Socket Modes ( upper 4 of 8 bits): • 0 - Socket NOT ACTIVE • 1 - Server TCP, PMAC ASCII protocol. • IP Address = 0.0.0.0 • 2 - Server TCP, PMACtoClient Interrupt ASCII string. IP Address = 0.0.0.0 Only available on Turbo UMACs. • 3 - Server Modbus/TCP-IP. IP Address not used. • 4 - Client Modbus/TCP-IP. IP Address of Server. • The IP Address 192.6.94.5 is stored as: • IP0=192, IP1=6, IP2=94, IP3=5

  13. M6703=first digit=4 for Client M6704=IP address 192.168.0.50 M6710 – M6715 are commands for PMAC ASCII on Socket 0 M6716=start of FC23 for Socket 1 M6717=end of FC23 for Socket 1

  14. Modbus Client Command List Memory Format $370000040020,$000004040024 $37 = Timer 1, FC 23 $0000 = Modbus Reference Number = 0 First Word = Read Data $04 = Length = 4 $0020 = PMAC Reference Number = $20 $00 = no function for FC 23 $0004 = Modbus Reference Number = 0 Second Word = Write Data $04 = Length = 4 $0024 = PMAC Reference Number = $20

  15. Reference Numbers • The PMAC one is the offset into the PMAC Modbus Server/Client buffer where the Modbus data is read from or written to. • The Modbus one is sent over Modbus/TCP-IP with the data. Note the PMAC & Modbus reference numbers are actual offsets and do not abide by the standard Modbus reference number where you subtract one from it to get the offset into memory. We start at zero and not one.

  16. Memory Allocation • PMAC Modbus/TCP Client/Server Buffer Size is fixed at 128 x 32 bits. • Length for FC23 is fixed in 2 x Modbus Bytes = 16 bits • Length for FC2 and FC15 is in bits • Always use all 32 bits of one Modbus memory location for one type – do not use 16 bits for inputs and 16 for outputs

  17. Wago Modular I/O • Setting up a Wago 750-342 Modbus TCP module and rack with a 753-512 (2 DO), a 753-502 ( 4 DI), 753-4011 (2 AO), and a 753-403 (2 AI) • Run BootPServer, and Edit BootPTab • If using no Proxy server then edit the line that starts with KeinProxy: Wago1NoProxy:ht=1:ha=0030DE00B6DF:ip=192.168.0.52: • If using proxy then edit the line that starts with Hamburg: Wago1Proxy:ht=1:ha=0030DE00B6DF:ip=192.168.0.52:T3=0A.01.FE.01: NOTE: IP address of the proxy server is in Hex NOTE: ha parameter must match the MAC address of your 750-342

  18. Wago Modular I/O • When addressing, first of all the more complex modules (modules occupying 1 or more bytes) are taken into account in accordance with their physical order behind the field bus coupler. As such, they occupy the addresses starting with word 0. • Following this, the data of the other modules (modules occupying less than 1 byte) follow, grouped into bytes. In accordance with the physical byte-wise order this data is used to fill up the bytes. As soon as a full byte is occupied by the bit-oriented modules, the next byte is automatically started.

  19. Wago Modular I/O • FC23, PMAC refs 40, 44, Modbus ref 0,4 • Note that Wago documentation starts with 0, not 1 • DO found at i67+$95 • AO found at i67+$94 • DI found at i67+$97 • AI found at i67+$96

  20. Wago Modular I/O Data width >= 1 word/channel Analog input modules Analog output modules Input modules for thermal elements Input modules for resistance sensors Pulse width output modules Interface module Up/down counter I/O modules for angle and path measurement

  21. Wago Modular I/O • Data width = 1 Bit / channel • Digital input modules • Digital output modules • Digital output modules with diagnosis (2 Bit / channel) • Power supply modules with fuse holder / diagnosis • Solid State power relay • Relay output modules

  22. Automation Direct GS Series VFD • Set IP Address using DIP switch • Set SW2 and SW3 to RS-485 • Parameters to set using IE or keypad: • P 3.00: 03 (keypad stop ena) 04 (keypad stop disabled) • P 4.00: 05 (frequency determined by RS485 interface) • P 4.04: 01 (states is to enable reverse command from analog but when = 0 the remote RUN command dead) • P 9.00: xx (unique communication address 1-254) • P 9.01: 01 (9600 baud data transmission rate) • P 9.02: 05 (MODBUS RTU mode - 8 data bits, odd parity, 1 stop bit)

  23. Automation Direct GS Series VFD • download NetEdit3 from Automation Direct at: http://www.hosteng.com/SW-Products/NetEdit3.zip • Insure that NWLink IPX/SPX/NetBios compatible protocol is loaded on your PC by going to the properties of your Ethernet connection • Run NetEdit 3 and select TC/PIP as type • Press the Scan Network Button. If this is the first time you have talked to this device you will see the address 255.255.255.0. Click on this address and set to the desired network address. This address should be in the same range as that of the PMAC. • Now you must power the drive down and back up. If you open NetEdit again you should now see the drive type listed in the address.

  24. Automation Direct GS Series VFD • Connect to the drive using IE to set drive parameters • Calculating Modbus Reference for the GS-EDRV • Take the GS parameter number (for example, 6.31 is the current error code) • Take the digits after the decimal place and convert to hex (for 6.31 this will be $1F) • Multiply the digit(s) before the decimal by $100 and add to the results of the previous calculation (for 6.31 this will yield $61f • Convert this to decimal ($61f -> 1567) and this is your Modbus Reference

  25. Automation Direct GS Series VFD

  26. Automation Direct GS Series VFD • Read/Write Hex Modbus • Speed Reference 091AH 42331 • Run Command 091BH 42332 • Direction 091CH 42333 • External Fault 091DH 42334 • Fault reset 091EH 42335 • Jog 091FH 42336 • Status 2101H 48450 • Frequency cmd 2102H 48451 • Output frequency 2103H 48452 • Output current 2104H 48453 • DC-bus voltage 2105H 48454 • Output voltage 2106H 48455 • Motor RPM 2107H 48456 • Scale freq (low) 2108H 48457 • Scale freq (high) 2109H 48458 • % Load 210BH 48460 • Firmware Version 2110H 48465 $91a=2330 4 is used as a holder Modbus Reference start with 1, not 0 The correct Modbus Reference for us is 2330, not 2331

  27. Phoenix FL IL BK Modbus I/O • In the demo this is a client at 192.168.2.80 on Socket 3 • FC3 with Modbus Ref 0, PMAC Ref 6, Count 1, and FC6 with Modbus Ref 384, PMAC Ref 24, Count 1 • Demo has 16 digital inputs mapped to M839 and 16 digital outputs mapped to M1 • Demo is being set output values by the PMAC, and the QTERM is reading input values

  28. Phoenix FL IL BK Modbus I/O • Base configuration at the module can be done with IE

  29. QTerm • Acting as a client in the demo • PLCs running on PMAC interpreting command words from the client • M844 – Feedrate override • M841 – Command Word • M846 – Rotary Position A • M847 – Rotary Position B

  30. QTerm

  31. Exor Uniop Terminal • Client mode or Server mode • Basic HMI with development package

  32. Exor Uniop Terminal

  33. Exor Uniop Terminal

  34. Modbus TCP Software Control Panel • Allows command of the PMAC with no code on the PMAC exactly as the DPR Control Panel does • I69 enables (firmware 1.942 and up) • Typically set to $80 to set the start of the panel memory space $80 long words after the start of Modbus memory • Reserves 26 long words

  35. PMAC/TURBO Firmware Modbus (I69) Memory Map

  36. Bit Format of Control Panel Motor/Coordinate System Enable Word (Y:I69)

  37. Bit Format of Coordinate System (CS) Feed Pot Override Enable Word (X:I69)

  38. Bit Format of Motor/Coordinate System Words (Y:I69+1 to 8) * When both Jog-Minus and Jog-Plus are set, motor will stop

  39. New Features (1.943+, 1.117+) • Add eight more direct control bits commands: B, K, J:*, J^*, J=*, >, <, and ^K • Read/Write anASCII (PMAC Modbus Address 0xF000) • Read/Write PMAC In (PMAC Modbus Address 0x1000-0x3FFF), Mn (PMAC Modbus Address 0x4000-0x7FFF), Pn (PMAC Modbus Address 0x8000-0xBFFF) and Qn(PMAC Modbus Address 0xC000-0xEFFF) using a Modbus 32 bit float data type.

  40. New Features (1.943+, 1.117+) • Read/Write PMAC Qn C.S. # (PMAC Modbus Address 0xF500) • Read & Clear PMAC Modbus Command Error Status word (PMAC Modbus Address 0xF100) • Read/Write PMAC Modbus Registers relative to I69 (PMAC Modbus Address 0xF200-0xF2FF) • Read/Write PMAC Modbus Coils relative toI69(PMAC Modbus Address 0xF300-0xF4FF)

  41. Gotchas • With a non-Turbo PMAC do not do power on phasing as it turns off background processing long enough for the Ethernet processor to initialize without the main processor initializing the i67 sockets • Make sure that server Port 502 is not being blocked by firewall software • Make sure that firewall software is not blocking client ports (>1024, exact port dependent on device, but different port for every open client socket • Server vs Client in 3d party documentation • Addressing in 3d party documentation

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